Hiding add-on parts of a motor vehicle

Abstract

The invention relates to a method for hiding one or more add-on parts (156) of a motor vehicle (150) detected in a detection region of a plurality of ultrasonic sensors (152) when monitoring the surroundings of the motor vehicle (150). The method comprises receiving ultrasonic signals (122; 170) detected using the plurality of ultrasonic sensors (152) of the motor vehicle (150) and creating a surroundings map (124) of surroundings (160) of the motor vehicle (150). Creating the surroundings map (124) comprises detecting objects (161; 162; 164; 166) in the detection region of the plurality of ultrasonic sensors (152) using the received ultrasonic signals (122; 170), determining positions (126) of the detected objects (161; 162; 164; 166) relative to the motor vehicle (150), and creating the surroundings map (124), which comprises determined positions (126) of detected objects (162; 164; 166). The positions of the objects (161) whose positions correspond to a reference position (130) of one of the one or more add-on parts (156) are hidden in the surroundings map (124).

Description

DISTINGUISHING ATTACHMENTS OF A MOTOR VEHICLE AREA OF TECHNOLOGY [OOO1] The invention relates to a method, a computer program and a computer unit for environmental monitoring of a motor vehicle. STATE OF THE ART

[0002] Modern vehicles use sensors, such as ultrasonic sensors, for environmental monitoring. This monitoring detects objects in the vicinity of the vehicle. The information obtained about these objects is then used, for example, to control driver assistance and / or automated driving functions.

[0003] However, vehicle attachments can pose a problem for environmental monitoring. These can be detected as objects in the immediate vicinity of the vehicle during environmental monitoring. If these supposed objects in the immediate vicinity are taken into account when controlling driver assistance and / or automated driving functions, this can lead to a false positive interpretation of the attachments as obstacles in the vehicle's vicinity, even though they are not actually obstacles. For example, there is a risk that a driver assistance function, based on such a false positive obstacle detection, might issue an incorrect obstacle warning to the driver, or that an automated driving function might initiate emergency braking based on such a false positive obstacle detection.

[0004] It is an object of the invention to provide an improved method for processing ultrasonic signals from one or more add-on parts of a motor vehicle detected within a detection range of a plurality of ultrasonic sensors of a motor vehicle. To provide environmental monitoring of the motor vehicle. The problems underlying the invention are solved by the features of the independent claims.

[0005] In one aspect, a method is disclosed for hiding one or more add-on parts of a motor vehicle detected in a detection range of a plurality of ultrasonic sensors during environmental monitoring of the motor vehicle using the plurality of ultrasonic sensors of the motor vehicle.

[0006] The process involves a computer unit receiving ultrasonic signals detected by the vehicle's multiple ultrasonic sensors and creating a map of the vehicle's surroundings. Creating the map includes detecting objects within the detection range of the multiple ultrasonic sensors using the received ultrasonic signals, determining the positions of the detected objects relative to the vehicle, and creating the map, which includes specific positions of the detected objects. The map hides the positions of objects whose positions coincide with a reference position of one or more vehicle components.

[0007] Examples have the advantage that the masking of detected objects is based on positional matching. This means that parts of the detection area are not generally masked, for example, as a range or band with a minimum and maximum distance, as would be the case when using an echo amplitude filter. This reduces the risk of blind spots or areas within the detection range where no objects are detected.

[0008] Rather, reference positions of add-on parts are provided. These reference positions allow the system to determine whether a detected object is one of the add-on parts that should be hidden or an object relevant to the environmental map within the detection range of the ultrasonic sensors. Objects relevant to the environmental map are, in particular, objects within the detection range of the ultrasonic sensors that are not part of the vehicle and therefore represent potential obstacles. Such objects or potential obstacles detected during environmental monitoring can be relevant for controlling the vehicle's driver assistance and / or automated driving functions.

[0009] Using one or more reference positions for attachments, Objects are identified and hidden based on their position as add-on parts. In the case of... Reference positions are known positions of add-on parts relative to the vehicle or relative to the ultrasonic sensors. Selecting objects to be masked is therefore position-based, i.e., based on the detected positions of the corresponding objects relative to the vehicle or relative to the ultrasonic sensors. This corresponds to directly masking objects within a vehicle coordinate system. The masking is limited to specific objects identified as interference objects in the form of add-on parts, which are recognized based on their position within the vehicle coordinate system.

[0010] Examples allow add-on parts, which may be design elements and / or functional components of the vehicle, to be hidden from the field of view of an ultrasonic sensor system—that is, from the detection range of the ultrasonic sensors—without any loss of performance in environmental monitoring. These hidden objects are not considered when creating the environmental map of the vehicle's surroundings. Consequently, they are not detected as potential obstacles by the vehicle's driver assistance and / or driving automation functions that rely on the corresponding environmental map. Since these add-on parts are components of the vehicle, they do not actually constitute obstacles; therefore, detecting them as potential obstacles would be a false positive.

[0011] The detection range of ultrasonic sensors can refer to a maximum detection range. Alternatively, it can be a preset detection range, meaning a limitation on the maximum detection range. Such a limitation can be implemented, for example, using an echo amplitude filter. This allows signals from objects outside the preset detection range to be filtered out.

[0012] The detection range is, for example, composed of individual detection ranges of the multiple ultrasonic sensors, which at least partially overlap. For instance, the maximum detection range of the ultrasonic sensors is a detection range composed of individual maximum detection ranges of the individual ultrasonic sensors. Similarly, a preset detection range of the ultrasonic sensors is a detection range composed of individual preset detection ranges of the individual ultrasonic sensors.

[0013] The ultrasonic sensors of most ultrasonic sensors are configured to detect the presence of objects within their detection range based on ultrasonic reflections, i.e., reflections of ultrasonic waves, from the respective objects. For example, the ultrasonic sensors emit ultrasonic signals in the form of ultrasonic waves and receive their reflections or echoes from objects in the vicinity of the vehicle as ultrasonic signals. By using time-of-flight measurements of the reflected ultrasonic signals, the distances of the detected objects in the vicinity of the vehicle from the ultrasonic sensors, and thus from the vehicle itself, can be determined. Furthermore, by using multiple ultrasonic sensors spaced at known intervals, the positions of the objects in the vicinity of the vehicle relative to the ultrasonic sensors, and thus to the vehicle, can be determined.In this process, the ultrasonic sensors can, for example, receive reflections of their own emitted ultrasonic signals and / or reflections of the ultrasonic signals emitted by one or more other ultrasonic sensors.

[0014] The ultrasonic sensors are integrated into the vehicle, for example, into one or more of the vehicle's bumpers. A distinction can be made between two-, four-, and six-channel systems, meaning systems with two, four, and six ultrasonic sensors, respectively. These ultrasonic sensors send and receive ultrasonic signals and transmit the acquired sensor data, for example, to the computer unit.

[0015] An environmental map, for example, is a data set that includes the positions or positional information of objects detected in the vicinity of the vehicle, relative to the vehicle. This positional information can be used as a basis for controlling other functions of the vehicle. For example, a parking assistance system can use the environmental map to detect parking spaces and / or determine whether a parking space is large enough for the vehicle. Furthermore, during a parking maneuver, distances to objects in the vicinity can be monitored, and warning signals or messages can be issued if predefined minimum distances or... Threshold values ​​are not exceeded. During an automated parking process, the distances can also be used to plan a parking path and to steer the vehicle during parking.

[0016] Using the environment map, determine specific distances to objects in the The vehicle's surroundings can also be used, for example, by the vehicle's distance warning system to detect when a minimum distance is not maintained. To issue a warning when a threshold is reached for an environmental object. Using the environmental map, specific distances to objects in the vicinity of the vehicle can, for example, be used by the vehicle's emergency braking assistance system to support and / or initiate a braking process when a minimum distance or threshold to an environmental object is breached.

[0017] For example, the process of creating the environment map involves determining a set of positions of objects to be displayed. To obtain this set of positions, those positions that correspond to a reference position of one of the attachments are removed from this set. This set of object positions is then used to create the environment map.

[0018] For example, to create the environment map, a set of positions of objects to be displayed is determined. The positions of this set, or of the corresponding objects, are then displayed on the environment map. For this purpose, from the set of determined positions of recorded objects, those objects are selected whose positions match reference positions and which are therefore identified as attachments. This approach can have the advantage that only those positions of recorded objects that are not attachments are used to create an environment map.

[0019] For example, a temporary environment map is created for specific locations. After creating this temporary environment map, the positions of objects whose positions coincide with one of the reference positions of an attachment are hidden.

[0020] For example, a temporary environment map is first created, encompassing all the specified positions of detected objects. The resulting temporary environment map thus also includes, for instance, the positions of attachments. From this temporary environment map, those positions that coincide with reference positions of attachments are hidden, resulting in an environment map without attachment positions. Examples like this can have the advantage that all specified positions are used to create the temporary environment map, while the resulting environment map, after the hiding process, only includes those positions of detected objects that are not attachments.

[0021] For example, the procedure also includes the use of the environment map for one or more of the following functions: a parking aid, a distance warning system, an emergency braking assistant.

[0022] A parking aid or parking assistance system is a system that assists in parking a motor vehicle, particularly in confined spaces. It displays information to the driver, such as distances to objects in the vehicle's vicinity. This information can be provided audibly and / or visually. For example, the distance can be indicated by a warning tone that gradually increases in pitch to a continuous tone as the distance decreases. Alternatively, the distance can be displayed using LED indicators and / or a graphical user interface. If a predefined threshold is breached, such as 30 cm or less, an additional audible warning can be issued, progressing from rapid warning tones to a continuous tone.

[0023] For example, a parking aid can also be configured as a parking steering assistance system, i.e., it can independently perform steering maneuvers during parking.

[0024] A distance warning system detects objects in the vicinity of the vehicle, such as other vehicles and / or obstacles, and warns the driver of a risk of collision if a predefined distance, particularly a speed-dependent distance, is breached. The warning can be given, for example, audibly and / or visually.

[0025] An emergency brake assist system is a predictive driver assistance system for motor vehicles configured to support emergency braking and / or to brake automatically. For example, an emergency brake assist system may also include a distance warning system that alerts the driver to potential danger. Vehicles with an emergency brake assist system include sensors for determining distances, as well as sensors for measuring acceleration, steering angle, steering wheel angle, and / or pedal position. A computer unit uses the sensor data to determine whether there are indications of a hazardous situation and / or a critical driving condition. For instance, the emergency brake assist system monitors the vehicle's surroundings using environmental sensors, such as ultrasonic sensors, and warns the driver of critical situations as a distance warning system, giving them time to react.If the emergency braking assistant detects that a collision is imminent, it calculates... For example, it determines how much the vehicle needs to brake to avoid a collision. If the driver then brakes, the system increases the brake pressure by the required amount. Should the driver fail to react to the situation, the emergency brake assist can, for example, initiate emergency braking to prevent a collision.

[0026] For example, the one or more add-on parts of the motor vehicle are one or more of the following objects: a trailer hitch, a step element, an air intake, an air outlet, a headlight element, a rear spoiler element, a front apron element, a decorative element, a bicycle stand, a license plate holder.

[0027] Examples can have the advantage of avoiding interference with environmental monitoring using ultrasonic sensors by corresponding attachments.

[0028] For example, an add-on component could be an air outlet located in or on the bumper of a vehicle. This could be, for instance, an element of the bumper design. This add-on component can be detected in the immediate vicinity of an ultrasonic sensor system. Examples allow such an air outlet to be masked out when creating an environmental map, so that it is not considered a potential obstacle when the environmental map is used by the vehicle's driver assistance and / or automated driving functions.

[0029] For example, one or more of the positions of the detected objects covered by the environment map are displayed using a user interface of the vehicle.

[0030] Examples can have the advantage that parts or all of the surrounding area map are displayed visually to the driver of the vehicle, for example, using a user interface such as on a screen or display. Based on the displayed map, the driver can, for example, see where and at what distance objects are located in the vicinity of the vehicle.

[0031] For example, a warning signal and / or a warning message is issued if the distance of one of the positions of the detected objects included in the environment map from a reference area defined in the environment map falls below a predefined threshold.

[0032] For example, the warning signal and / or the warning message is issued using the vehicle's user interface. These warning signals can be, for example, audible. They can also be visual, such as those displayed using LEDs. Warning messages can be displayed visually using a user interface, such as on a screen or display.

[0033] The distances between the detected objects are determined, for example, using the environmental map. Therefore, the issuance of a warning signal or alert is based, for instance, on an analysis of the information or positional data from the environmental map. The corresponding reference area is, for example, a vehicle outline or the vehicle itself.

[0034] Distances to objects can be indicated, for example, by an audible signal that varies depending on the distance. For instance, an audible signal could become a continuous tone as the distance decreases. Distances to objects can also be displayed visually, for example, using a color code. Alternatively, distances to objects can be displayed using bar charts, where the number of bars increases as the distance decreases. Distances can also be displayed schematically or to scale on a screen or display within a vehicle's user interface. For example, the screen or display could show the contours of the vehicle and the positions of objects detected in its vicinity.

[0035] For example, one or more reference positions of one or more add-on parts are stored in a non-volatile electronic memory of a storage unit in the vehicle. Thus, information about the reference positions of the add-on parts is retained even after the vehicle is restarted.

[0036] Position-based detection and hiding of attachments can be particularly advantageous in the case of attachments that are present or absent depending on the situation; for example, a trailer hitch might be attached or detached. If the corresponding attachment is present, it is detected, identified as such based on its position, and hidden when the environment map is created. If the attachment is not present, it is hidden. If present, there are no restrictions on the monitored environmental area or the detection range of the ultrasonic sensors.

[0037] For example, the ultrasonic signals from each ultrasonic sensor are acquired in repeated measurement cycles. Object detection involves echo analysis using the ultrasonic signals acquired per sensor and measurement cycle. This echo analysis considers a potential multitude of echoes, which are then assigned to multiple different positions of multiple different objects.

[0038] Examples can have the advantage that, for each individual ultrasonic sensor, the echo analysis considers not only the first echo from an object at the smallest relative distance to the corresponding ultrasonic sensor. In other words, not just a single initial echo is considered per echo analysis. Rather, the echo analysis is configured to also take into account further echoes from other objects at greater distances relative to the corresponding ultrasonic sensor. Thus, for each ultrasonic sensor, an echo train from that sensor can be considered, containing multiple echoes from multiple objects. For multiple ultrasonic sensors, this means that multiple echo trains can be considered for multiple ultrasonic sensors.

[0039] Examples can offer the advantage that, in addition to the attached component, more distant objects are also detected simultaneously by the ultrasonic sensors. This makes it possible to first determine the positions of the detected objects, both those that are attached components and other objects within the detection range of the ultrasonic sensors. Only based on these determined positions are the attached components identified and filtered out. Because the echo analysis considers more than just the initial echo, other objects in the vicinity of the vehicle, especially those further away, can also be detected alongside the attached components.The echoes from add-on parts will often, but not necessarily always, be the first echoes of a received echo train, since these are located directly on the vehicle and therefore usually have a shorter distance to the ultrasonic sensors than other surrounding objects.

[0040] Processing more echoes than just the first echo per Ultrasonic sensor, in addition to the attachments, also allows for the detection of more distant objects. Objects are detected. This prevents only the attached part from being detected. This means that objects located behind or further away from the attachment will not be detected or recorded. Instead, as illustrated in the examples, several echoes received within a measurement cycle will be analyzed together. For example, the first echo could be from an attachment, while the subsequent echoes could be from the actual objects whose positions are to be included in the environment map. Conversely, the position of the attachment with the first echo should be ignored.

[0041] Examples can prevent entire time intervals from being cut out or filtered from a response signal, i.e., the received ultrasound signals. In time-of-flight distance measurement, such time intervals correspond to distance ranges or spatial sub-areas of the detection range of the ultrasound sensors. If entire areas are filtered out from the outset, for example, using an echo amplitude filter, it may be sufficient to consider only the first echo, since this must be an echo from an object within the filtered-out sub-areas. However, this has the disadvantage that objects within the filtered sub-areas are not detected at all. This applies to both add-on parts and other objects in the vicinity of the vehicle.

[0042] Examples can avoid both the disadvantages of ignoring entire time periods and problems that would arise from exclusively considering first echoes.

[0043] In another aspect, a computer program is disclosed for masking one or more add-on parts of a motor vehicle detected within the detection range of a plurality of ultrasonic sensors during environmental monitoring of the motor vehicle using the plurality of ultrasonic sensors. The computer program comprises machine-readable program instructions. Execution of the machine-readable program instructions by a processor unit of a computer unit of the motor vehicle causes the processor unit to control the computer unit to receive ultrasonic signals detected using the plurality of ultrasonic sensors of the motor vehicle and to create an environmental map of the motor vehicle's surroundings.Creating the environmental map involves detecting objects within the detection range of the majority of ultrasonic sensors using the received ultrasonic signals, determining the positions of the detected objects relative to the vehicle, and creating the environmental map, which includes specific positions of the detected objects. The environmental map hides the positions of objects whose positions coincide with a reference position of one or more of the vehicle's components.

[0044] The machine-readable program instructions of the computer program are configured, for example, to cause the processor unit of a computer unit, when executed by a processor unit, to execute each of the previously described examples of the procedure for hiding detected add-on parts of the motor vehicle.

[0045] For example, a computer program product includes the computer program. For example, the computer program is provided using a computer program product.

[0046] Examples include a computer program product for masking one or more vehicle attachments detected within the detection range of multiple ultrasonic sensors during environmental monitoring of the vehicle using the vehicle's multiple ultrasonic sensors. For example, the computer program product includes a computer-readable storage medium containing machine-readable program instructions.

[0047] Execution of machine-readable program instructions by a processor unit of the vehicle's computer unit causes the processor unit to control the computer unit to receive ultrasonic signals detected by the vehicle's multiple ultrasonic sensors and to create an environmental map of the vehicle's surroundings. Creating the environmental map involves detecting objects within the detection range of the multiple ultrasonic sensors using the received ultrasonic signals, determining the positions of the detected objects relative to the vehicle, and creating the environmental map, which includes certain positions of detected objects. The environmental map hides the positions of objects whose positions coincide with a reference position of one or more add-on parts.

[0048] The machine-readable program instructions of the computer program product are configured, for example, to cause the processor unit of a computer unit, when executed by a processor unit, to execute each of the previously described examples of the procedure for hiding detected add-on parts of the motor vehicle.

[0049] In another aspect, a computer unit of a motor vehicle is disclosed for Hiding one or more in a detection area of ​​a plurality of Ultrasonic sensors detect add-on parts of a motor vehicle during environmental monitoring of the motor vehicle using the vehicle's multiple ultrasonic sensors. The computer unit comprises a processor unit and a memory unit containing machine-readable program instructions. Execution of these instructions by the processor unit causes it to control the computer unit to receive ultrasonic signals detected by the vehicle's multiple ultrasonic sensors and to create an environmental map of the vehicle's surroundings. Creating the environmental map involves detecting objects within the detection range of the multiple ultrasonic sensors using the received ultrasonic signals, determining the positions of the detected objects relative to the vehicle, and creating the environmental map, which includes specific positions of the detected objects.The environment map hides the positions of objects whose positions match a reference position of one or more attachments.

[0050] The machine-readable program instructions of the computer unit are configured, for example, to cause the processor unit of the computer unit, when executed, to execute each of the previously described examples of the procedure for hiding detected add-on parts of the motor vehicle.

[0051] For example, a motor vehicle includes the computer unit for masking one or more add-on parts of the motor vehicle detected within a detection range of a plurality of ultrasonic sensors during environmental monitoring of the motor vehicle using the plurality of ultrasonic sensors of the motor vehicle.

[0052] For example, a driver assistance system includes a computer unit according to one of the aforementioned examples. For example, a motor vehicle with a driver assistance system includes a computer unit according to one of the aforementioned examples. Examples include a motor vehicle which includes a computer unit according to one of the preceding examples.

[0053] The motor vehicle can be any type of motor vehicle, e.g. a car, a truck, a bus, a construction vehicle, an agricultural vehicle or a service vehicle, which is driven or can be driven by a human driver.

[0054] It is understood that one or more of the aforementioned embodiments can be combined with each other, as long as the embodiments do not exclude each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The following examples are explained in more detail using the drawings. They show:

[0056] Fig. 1 shows a flowchart of an exemplary procedure for hiding detected add-on parts of a motor vehicle during environmental monitoring of the motor vehicle.

[0057] Fig. 2 shows a flowchart of another exemplary method for hiding detected add-on parts of a motor vehicle during environmental monitoring of the motor vehicle.

[0058] Fig. 3 shows a flowchart of another exemplary method for hiding detected add-on parts of a motor vehicle during environmental monitoring of the motor vehicle.

[0059] Fig. 4 shows a flowchart of an exemplary procedure for monitoring an environmental map.

[0060] Fig. 5 shows a block diagram of an exemplary computer unit for hiding a mounted add-on component.

[0061] Fig. 6 shows a schematic diagram of an exemplary situation when creating an environmental map.

[0062] Fig. 7 shows a schematic diagram of an exemplary position-based hiding of a detected add-on part of a motor vehicle,

[0063] Fig. 8 shows a schematic diagram of a disadvantageous, non-inventive obscuring of an add-on part of a motor vehicle, and

[0064] Fig. 9 is a schematic diagram of an exemplary motor vehicle with a computer unit for hiding an add-on part. DETAILED DESCRIPTION

[0065] In the following, similar elements are marked with the same reference symbols.

[0066] Fig. 1 shows an exemplary method for masking one or more add-on parts of a motor vehicle detected in a detection range of a plurality of ultrasonic sensors during environmental monitoring of the motor vehicle using the plurality of ultrasonic sensors of the motor vehicle.

[0067] The procedure is performed by a computer unit of the motor vehicle. This computer unit is, for example, a computer unit of a driver assistance system. In Block 200, ultrasonic signals detected by the majority of the motor vehicle's ultrasonic sensors are received. These detected ultrasonic signals are used to create an environmental map of the motor vehicle's surroundings. Block 202 of the environmental map creation process involves detecting objects within the detection range of the majority of ultrasonic sensors using the received ultrasonic signals. In Block 204, the positions of the detected objects relative to the motor vehicle are determined. The position determination is based, for example, on triangulation using the ultrasonic signals detected by the majority of ultrasonic sensors from two or more ultrasonic sensors.

[0068] Block 208 checks whether the positions determined in Block 204 correspond to the reference positions of one or more add-on parts. For this purpose, a set of one or more reference positions for one or more add-on parts is provided. These reference positions of the one or more add-on parts are determined, for example, during an initial calibration. For this, objects are detected and their positions determined using ultrasonic sensors in an object-free environment. An object-free environment is one in which no objects other than the vehicle's add-on parts are present within the detection range of the ultrasonic sensors. Therefore, the positions determined in this way can be assigned to add-on parts and stored as reference positions for identifying the corresponding add-on part.

[0069] If a match is found in block 208 between a position assigned to a detected object and one of the reference positions, the corresponding object is hidden in block 210; that is, its position is not added to the environment map. The position match indicates that the object in question is an add-on part, which should not be included in the environment map. The environment map should, for example, only include or display objects in the vicinity of the vehicle that are not add-ons to the vehicle.

[0070] If no match is found in block 208 for a specific position of a detected object with any of the reference positions, the corresponding position is added to the environment map in block 214. If the position does not match any of the reference positions for attachments, the object in question is not an attachment. This allows for the creation of an environment map that... The map includes the positions of detected objects that are not among the one or more attachments. The resulting environment map hides the positions of those objects whose positions coincide with a reference position of one or more attachments.

[0071] Fig. 2 shows another exemplary method for masking detected add-on parts of a motor vehicle during environmental monitoring of the vehicle using the majority of the vehicle's ultrasonic sensors. The method is executed by a computer unit of the vehicle. This computer unit is, for example, a computer unit of a driver assistance system of the vehicle.

[0072] Blocks 300 to 308 of Fig. 3 correspond, for example, to blocks 200 to 208 of Fig. 1. If a match is found in block 308 between a position assigned to a detected object and one of the reference positions, the corresponding object is hidden in block 310; that is, its position is not added to a set of positions of objects to be displayed in the environment map. The position match indicates that the corresponding object is an add-on part, which should not be included in the environment map. The environment map should, for example, only include or display objects in the vicinity of the vehicle that are not add-ons to the vehicle.

[0073] If no match is found in block 308 for a specific position of a detected object with any of the reference positions, the corresponding position is added to the set of positions of objects to be displayed in the environment map in block 312. If the position does not match any of the reference positions for attachments, the corresponding object is not an attachment.

[0074] The resulting set of positions comprises the positions of those detected objects whose positions are to be displayed in the environment map. In Block 314, the positions of the corresponding set of positions are added to the environment map, or the environment map is created using the corresponding positions. This allows for the creation of an environment map that includes specific positions of detected objects that are not among the one or more attachments. In the resulting environment map, the positions of those objects whose positions coincide with a reference position of one or more attachments are hidden.

[0075] Fig. 3 shows another exemplary method for masking one or more add-on parts of a motor vehicle detected in a detection range of a plurality of ultrasonic sensors during environmental monitoring of the motor vehicle using the plurality of ultrasonic sensors of the motor vehicle.

[0076] The procedure is performed by a computer unit of the motor vehicle. This computer unit could be, for example, a computer unit of a driver assistance system. In Block 400, ultrasonic signals detected by the majority of the motor vehicle's ultrasonic sensors are received. These detected ultrasonic signals are used to create an environmental map of the motor vehicle's surroundings. Block 402 of the environmental map creation process involves detecting objects within the detection range of the majority of ultrasonic sensors using the received ultrasonic signals. In Block 404, the positions of the detected objects relative to the motor vehicle are determined. Position determination is based, for example, on triangulation using the ultrasonic signals detected by two or more ultrasonic sensors.

[0077] Block 406 creates a temporary environment map containing the positions of the detected objects determined in Block 404. This temporary environment map includes the positions of both attached and unattached objects. To obtain the final environment map using this temporary environment map, Block 408 checks whether the positions determined in Block 404 and included in the temporary environment map in Block 406 correspond to reference positions of one or more attached objects. For this purpose, a set of one or more reference positions for one or more attached objects is provided. These reference positions are determined, for example, during an initial calibration.For this purpose, objects are detected and their positions determined using ultrasonic sensors in an object-free environment. An object-free environment is one in which, apart from vehicle attachments, no objects are present within the detection range of the ultrasonic sensors. Therefore, the positions determined in this way can be assigned to attachments and stored as reference positions for identifying the corresponding attachments.

[0078] If a match is found in block 408 for a detected object, Once a position is determined that matches one of the reference positions, the position of the corresponding position is determined. The object in block 410 is hidden, meaning its position is removed from the temporary environment map. Based on the positional match, it appears that the object in question is an add-on part and should not be included in the final environment map. The final environment map should, for example, only include or display objects in the vicinity of the vehicle that are not add-ons to the vehicle.

[0079] If no match is found in block 408 for a specific position of a detected object with any of the reference positions, the corresponding position is retained in block 412 in the temporary environment map, thus becoming part of the final environment map. The resulting environment map is the final environment map from which all positions matching any of the reference positions have been removed. If the position does not match any of the reference positions for attachments, the corresponding object is not an attachment. In this way, an environment map can be created that includes specific positions of detected objects that are not among the one or more attachments. In the resulting final environment map, the positions of those objects whose positions match a reference position of one or more attachments are hidden.

[0080] Figure 4 shows an exemplary method for environmental monitoring using an environmental map. In Block 500, an environmental map of the vehicle's surroundings is created. For example, the environmental map is created using one of the methods shown in Figures 1 to 3. The environmental map includes the positions of objects within the detection range of multiple ultrasonic sensors on the vehicle. The corresponding objects within the detection range of the multiple ultrasonic sensors are detected using received ultrasonic signals. Objects whose specific position corresponds to a reference position of a vehicle component are excluded from the environmental map creation. Thus, the vehicle's environmental map includes, for example, only the positions of objects that are not vehicle components.For example, the environment map is constantly updated to account for changes in the positions of the detected objects. Furthermore, objects can leave the detection range of the ultrasonic sensors and / or other objects can enter the detection range of the ultrasonic sensors.

[0081] Block 502 monitors the environment map created in Block 500. During this monitoring, Block 504 checks whether the distance between any of the positions included in the environment map and the vehicle falls below a predefined threshold. If the predefined threshold is not exceeded, monitoring continues. If the predefined threshold is exceeded—that is, if the distance between any of the objects whose positions are included in the environment map is less than the predefined threshold—Block 506 issues a warning signal and / or displays a warning message.

[0082] For example, the warning signal and / or the warning message is issued using the vehicle's user interface. These warning signals can be, for example, audible. They can also be visual, such as those displayed using LEDs. Warning messages can be displayed visually using a user interface, such as on a screen or display.

[0083] Fig. 5 shows an exemplary computer unit or computer device 102 for masking one or more add-on parts of a motor vehicle detected within the detection range of a plurality of ultrasonic sensors during environmental monitoring of the motor vehicle using the plurality of ultrasonic sensors of the motor vehicle. The computer unit 102 is, for example, a computer unit of a driver assistance system 100. The driver assistance system 100 is a system that implements, for example, functions such as a parking aid, a distance warning system, and an emergency braking assistant.

[0084] The computer unit 102 can be integrated into vehicle-related components and / or systems in various ways. For example, the computer unit 102 can be integrated into the motor vehicle. This integrated computer unit 102 can also be implemented as a distributed system. The computer unit 102 shown comprises a processor unit or processing unit 104. The processor unit 104 can be, for example, an integrated circuit in the form of a microprocessor or a microcontroller in an embedded system. The processor unit 104 shown represents one or more processor units. The computer unit 102 shown also includes a hardware interface 106. The hardware interface enables the processor unit 104 to communicate with other components of the motor vehicle and / or perform other functions. to control components. These other components include, for example, the ultrasonic sensors of the majority of ultrasonic sensors. These ultrasonic sensors (not shown) are configured, for example, to send and receive ultrasonic signals. Based on received ultrasonic signals, which are generated by objects within the detection range of the ultrasonic sensors, the corresponding objects can be detected and, for example, their positions within the detection range can be determined using triangulation.

[0085] The depicted processor unit 104 can also be connected to an optional user interface 108. The user interface 108 could, for example, be the user interface 108 of an on-board computer of a motor vehicle. The user interface 108 could also include a display device. This could, for example, be a two-dimensional computer display, a touchscreen, a virtual reality system, and / or an augmented reality system. For example, the user interface 108 includes an acoustic output unit, which is configured to emit an acoustic warning signal when an obstacle is detected during environmental monitoring using the environmental map.The acoustic warning signal is emitted, for example, if the distance between one of the detected objects' positions, as defined by the map, and a reference area defined on the map falls below a predefined threshold. This reference area could be, for example, the contours of the vehicle, specifically the vehicle's body excluding any attachments.

[0086] For example, user interface 108 includes a graphical user interface configured to display a visual warning when an obstacle is detected during environmental monitoring using the environmental map. The warning is displayed, for instance, if the distance between one of the detected objects' positions within the environmental map and a reference area defined in the map falls below a predefined threshold. This reference area could be, for example, the contours of the vehicle, specifically the vehicle's outline excluding any attachments.

[0087] For example, the detected obstacle or its position is displayed graphically using the surrounding map. For example, the position of the obstacle relative to the vehicle is shown. For example, the distance of the vehicle to the corresponding obstacle is displayed graphically.

[0088] The depicted processor unit 104 is also connected to a memory unit 110. The memory unit 110 represents various types of memory that the processor unit 104 can access. For example, the memory unit 110 includes at least one non-volatile memory. Furthermore, the memory unit 110 includes at least one volatile memory.

[0089] The storage unit 110 contains machine-readable and machine-executable program instructions 120. These machine-readable program instructions 120 enable the processor unit 104 to perform various numerical and computational tasks. The machine-readable program instructions 120 also allow the processor unit 104 to control and operate other components via the hardware interface 106, such as most ultrasonic sensors.

[0090] The execution of the machine-readable program instructions 120 by the processor unit 104 can cause the processor unit 104 to control the computer unit 102, a method for masking one or more vehicle attachments detected within the detection range of the plurality of ultrasonic sensors during environmental monitoring of the vehicle. The method comprises receiving ultrasonic signals detected using the plurality of ultrasonic sensors of the vehicle and creating an environmental map of the vehicle's surroundings. Creating the environmental map comprises detecting objects within the detection range of the plurality of ultrasonic sensors using the received ultrasonic signals, determining the positions of the detected objects relative to the vehicle, and creating the environmental map, which includes specific positions of the detected objects.The environment map hides the positions of objects whose positions match a reference position of one or more attachments.

[0091] For example, the computer unit 102 is controlled to execute one of the methods for masking according to one of Figures 1 to 3. Furthermore, the computer unit can, for example, be configured to monitor the vehicle's surroundings using the environment map. For example, the computer unit 102 is controlled to execute the monitoring method according to Figure 4.

[0092] The storage unit 110 also includes, for example, ultrasound signals 122, which were detected by the majority of ultrasound sensors. Using these ultrasound signals 122, the computer unit 102 can, for example, identify objects in the The detection range of the ultrasonic sensors is recorded. The storage unit 110 also includes, for example, positions 126 of the detected objects relative to the motor vehicle, which the computer unit 102 determines using the ultrasonic signals 122.

[0093] Furthermore, storage unit 110 includes, for example, reference positions 130 of one or more vehicle attachments. These reference positions 130 specify the positions of the vehicle attachments relative to the vehicle. The reference positions 130 are stored, for example, in a non-volatile part of storage unit 110. Using the reference positions 130, computer unit 102 can, for example, identify objects whose positions match one of the reference positions 130 and which should therefore be hidden as attachments when creating an environment map 124. Storage unit 110 includes, for example, the corresponding environment map 124. The environment map 124 includes those positions of the specific positions 126 of the detected objects that do not match one of the reference positions 130.

[0094] To create the environment map 124, for example, a set of positions 128 of objects to be displayed is first determined from the specific positions 126 of the recorded objects. For this purpose, for example, all those positions 126 that correspond to one of the reference positions 130 are identified and hidden. The remaining positions are, for example, the positions 128 of the objects to be displayed.

[0095] To create the environment map 124, a temporary environment map 125 is first created. This temporary environment map 125 includes, for example, all specific positions 126 of recorded objects. To obtain the environment map 124, all positions from the temporary environment map that correspond to one of the reference positions 130 are hidden. The resulting map, after all positions corresponding to one of the reference positions 130 have been hidden from the temporary environment map 125, is, for example, the environment map 124.

[0096] For example, all positions within position 126 that match one of the reference positions 130 are identified and hidden. The remaining positions are, for example, position 128 of the objects to be displayed.

[0097] For example, the environmental map 124 is used for monitoring the vehicle's surroundings. Using the environmental map 124 and the positions encompassed by the environmental map 124, distances 132 are determined between detected objects (excluding add-on parts) and the vehicle. If any of these distances 132 from a reference area defined in the environmental map, such as the vehicle's contour, falls below a predefined threshold 134, a warning signal is issued and / or a warning message is displayed.

[0098] For example, the output of the warning signal and / or the display of the warning message is carried out using the user interface 108 of the computer unit 102. Corresponding warning signals can be, for example, acoustic warning signals. Corresponding warning signals can be, for example, visual warning signals, which are output using LED indicators of the user interface 108. Corresponding warning messages can be displayed, for example, visually using a display of the user interface 108.

[0099] Fig. 6 shows an exemplary situation during the creation of an environmental map. A motor vehicle 150 is shown, which includes a plurality of ultrasonic sensors 152. These ultrasonic sensors 152 are configured, for example, to emit ultrasonic signals and to detect ultrasonic signals reflected by objects 156, 162, 164, 166 in the vicinity 160 of the motor vehicle 150. In the situation shown, the motor vehicle 150 wants to park, for example, between two other motor vehicles 162, 166. Based on the ultrasonic signals reflected by surfaces 163, 167 of the other motor vehicles 162, 166, the motor vehicles 162, 166 can be detected and their positions [X2, Y2] and [X4, Y4], respectively, can be determined, for example, by triangulation. More precisely, for example, the positions of the reflective surfaces 163, 167 of the motor vehicles 162, 166 are determined relative to the motor vehicle 150.Positions [X2, Y2] and [X4, Y4] can therefore each represent, for example, a plurality of position points that at least approximate the contours of the reflecting surfaces 163, 167. For the sake of simplicity, two-dimensional coordinates are shown here. Three-dimensional coordinates are also possible, for example in the form of distance, azimuth angle, and elevation angle.

[0100] At the end of the gap between the two vehicles 162 and 166, for example, there is another object 164, such as a post. This object can also be detected using the ultrasound signals reflected from the surface 165 of object 164. whose position [X3, Y3] can be determined, for example by means of triangulation. More precisely, the position of the reflecting surface 165 of the object 164 relative to the motor vehicle 150 is determined. The position [X3, Y3] can therefore, for example, be a plurality of position points that represent at least the approximate contour of the reflecting surface 165.

[0101] Furthermore, an attachment 156, for example a trailer hitch, is mounted on the motor vehicle 150. This attachment 156 also comprises a surface 157 that reflects ultrasound. Based on the ultrasound signals reflected from the surface 157 of the attachment 156, this attachment can also be detected as an object within the vicinity of the motor vehicle 150, and its position [Xi, Y] can be determined, for example, by triangulation. More precisely, the position of the reflecting surface 157 of the attachment 156 relative to the motor vehicle 150 is determined. The position [Xi, Y] can therefore, for example, be a plurality of position points that represent at least the approximate contour of the reflecting surface 157. By comparing the specific positions [Xi, Y , [X?, Y?], [X3, Y3] and [X4, Y4] of the recorded objects 156, 162, 164, 166 with reference positions [X R[ , YR] of the attachments of motor vehicle 150, those objects that are attachments can be identified. In this case, this is object 156. The other objects 162, 164, 166 are not attachments. Therefore, the position of [Xi, Y] of attachment 156 is hidden when creating the environment map, while the positions [X2, Y2], [X3, Y3] and [X4, Y4] of the detected objects 162, 164, 166 are taken into account. The resulting environment map includes, for example, the positions [X2, Y2], [X3, Y3] and [X4, Y4] of the detected objects 162, 164, 166. For example, the environment map with the positions [X2, Y2], [X3, Y3] and [X4, Y4] or the corresponding coordinate points represents the contours of surfaces 163, 165 and 167.

[0102] A map of the surroundings created in this way can, for example, serve as the basis for a parking assistance function of vehicle 150. Using this map, the distances of vehicle 150 to objects 162, 164, and 166 can be determined and monitored during manual, semi-automated, or fully automated parking maneuvers. For example, it can be monitored to ensure that the distances do not fall below predefined thresholds. If this does occur, warning signals and / or warning messages can be issued. Furthermore, in an emergency, for example, emergency braking can be initiated. In the case of semi-automated or In a fully automated parking process, the parking process can be controlled using the surrounding area map, for example, to ensure that the distances do not fall below predefined thresholds.

[0103] Fig. 7 shows an exemplary position-based masking of a detected object 161, which is identified as an add-on part of a motor vehicle 150. The motor vehicle 150 comprises a plurality of ultrasonic sensors 152. These ultrasonic sensors 152 are configured, for example, to emit ultrasonic signals and to detect ultrasonic signals 170 reflected by objects 161, 162 in the vicinity 160 of the motor vehicle 150. Two objects 161, 162 are shown, for example, at different distances and in different positions relative to the motor vehicle 150. For example, the ultrasonic sensor 152.1 receives an ultrasonic signal 170.1 reflected by object 161. The reflected ultrasonic signal 170.1 is, for example, a reflection of an ultrasonic signal emitted by the ultrasonic sensor 152.1 and / or 152.2. The distance of object 161 from the ultrasonic sensor 152 can be determined by measuring the time of flight.1. For example, the ultrasonic sensor 152.2 receives an ultrasonic signal 170.2 reflected by the object 161. The reflected ultrasonic signal 170.2 is, for example, a reflection of an ultrasonic signal transmitted by the ultrasonic sensor 152.1 and / or 152.2. The distance of the object can be determined by measuring the time of flight. The object 161 is determined by the ultrasonic sensor 152.2. For example, a relative position [Xi, Y] of object 161 to the motor vehicle 150 can then be determined using triangulation. If the corresponding position [Xi, Y] matches a reference position [X] RIf the position [Xi, YR] of an attachment of the motor vehicle 150 matches, the object 161 can be identified as an attachment based on its position. Therefore, the position [Xi, Y] of the object 161 identified as an attachment is hidden when creating an environment map. However, this hiding only applies to object 161 at position [Xi, Y] or the corresponding position. Other objects with the same distance to one of the ultrasonic sensors 152.1 or 152.2, but a different relative position to the motor vehicle 150, are not hidden.

[0104] For example, the ultrasonic sensor 152.2 receives an ultrasonic signal 170.3 reflected by the object 162. The reflected ultrasonic signal 170.3 is, for example, a reflection of an ultrasonic signal transmitted by the ultrasonic sensor 152.2 and / or 152.3. The distance of the object can be determined by measuring the time of flight. 162 are determined by the ultrasonic sensor 152.2. For example, the ultrasonic sensor 152.3 receives an ultrasonic signal 170.4 reflected from the object 162. In the The reflected ultrasound signal 170.4 is, for example, a reflection of an ultrasound signal transmitted by the ultrasound sensor 152.2 and / or 152.3. The distance of object 162 from the ultrasound sensor 152.3 can be determined by measuring the time of flight. A relative position [X1, Y2] of object 162 to the motor vehicle 150 can then be determined, for example, by means of triangulation. If the corresponding position [X2, Y2] does not match any of the reference positions [X1, Y2], the sensor is then used to determine the distance between object 162 and the ultrasonic sensor 152.3. RSince the position [X2, Y2] of the vehicle's attachments [X2, YR] corresponds to the vehicle's attachments, it can be determined that object 162 is not an attachment of the vehicle. Therefore, position [X2, Y2], and thus object 162, is taken into account when creating the environment map. For example, the corresponding environment map includes the position [X2, Y2] of object 162.

[0105] Fig. 8 illustrates a disadvantageous, non-inventive masking of an attachment 156 of a motor vehicle 150. The motor vehicle 150 comprises a plurality of ultrasonic sensors 152. These ultrasonic sensors 152 are configured, for example, to emit ultrasonic signals and to detect ultrasonic signals reflected by objects 156, 161, 162 in the vicinity 160 of the motor vehicle 150. The attachment 165 is arranged at position [Xi, Yi] between the two ultrasonic sensors 152.1 and 152.2 shown. The attachment 165 has a relative distance to the ultrasonic sensor 152.1 in the region of a minimum distance Al. m at up to a maximum distance Al m ax. In addition, the attachment 165 has a relative distance to the ultrasonic sensor 152.2 in the range of a minimum distance A2. m at a maximum distance of A2 mThe add-on component 165 can be masked by filtering out all echoes of a specific signal path for a specific range, for example, using an echo amplitude filter. For instance, these masked ranges can be configured so that the ultrasonic sensor 152.1 does not detect or mask echoes from range band 172.1, while the ultrasonic sensor 152.2 does not detect or mask echoes from range band 172.2. This effectively masks the add-on component 165, but at the same time, the ultrasonic sensors 152.1 and 152.2 are blind in ranges 172.1 and 172.2, respectively. This can lead to the situation that when the motor vehicle 150 is traveling in the direction of travel 180, the objects 162 and 164 at the relative positions [X2, Y2] and position [X3, Y3] are initially outside the areas 172.1 and 172.2 respectively and are detected by the ultrasonic sensors 152.1, 152.2 as objects within the vicinity 160 of the motor vehicle 150. However, if the objects 162 and 164 enter areas 172.1 and 172.2 respectively as a result of the movement of the motor vehicle 150, they are no longer visible to the ultrasonic sensors 152.1 and 152.2 and therefore can no longer be detected as objects within the vicinity 160 of the motor vehicle 150. This can lead to... This leads to complications. In contrast, objects 162 and 164 would still be visible in the scenario described above, as shown in Fig. 7, since although their distance to the ultrasonic sensor 152.1 and 152.2 respectively might correspond to the distance of the attachment 156 to the corresponding ultrasonic sensors 152.1 and 152.2, their relative positions to the vehicle are different. This illustrates the advantages of position-based masking.

[0106] Fig. 9 shows an exemplary motor vehicle 150 with a computer unit 102 for hiding an add-on part 156. The computer unit 102 is, for example, a computer unit of a driver assistance system that supports a human driver when driving the motor vehicle 150. The computer unit 102 in Fig. 9 is, for example, the computer unit from Fig. 5. The motor vehicle 150 can be, for example, any type of motor vehicle, e.g., a car, a truck, or a bus, which is driven or can be driven by a human driver.

[0107] The computer unit 102, or driver assistance system, supports the human driver of the motor vehicle 150. The driver assistance system can, for example, implement one or more of the following functions: parking assistance, a distance warning system, or an emergency braking assistant. For this purpose, the driver assistance system, or computer unit 102, uses, for example, an environmental map of the motor vehicle's surroundings for environmental monitoring. To create the corresponding environmental map, the computer unit 102 is configured, for example, to execute a procedure for masking one or more vehicle components 156 detected within the detection range of a plurality of ultrasonic sensors 152.

[0108] In the example shown, the computer unit 102 is communicatively connected to a plurality of environmental sensors, which are ultrasonic sensors 152 for monitoring the environment 160 of the vehicle 150. The environmental sensors 152 detect the environment 160 of the vehicle 150. In doing so, the environmental sensors 152 generate sensor data, which is sent to the computer unit 102. The sensor data sent to the computer unit 102 includes, for example, raw data and / or pre-processed data of the ultrasonic signals detected by the ultrasonic sensors 152.

[0109] The motor vehicle 150 also includes a data connection 154, which the connects the ultrasonic sensors 152 and the computer unit 102. In the TI The computer unit 102 can be any type of computer unit 102 suitable for use in a motor vehicle 150. Such computer units 102 are known in the automotive sector, for example, as ECUs (Electronic Control Units). The computer unit 120 can, for example, be a dedicated computer unit 102 for carrying out the previously described method for masking detected add-on parts 156. The computer unit 102 of Fig. 9 corresponds, for example, to the computer unit 102 of Fig. 5. The computer unit 102 of Fig. 9 is configured, for example, to carry out one or more of the methods of Figs. 1 to 4. The computer unit 102 can, for example, be used jointly to carry out a plurality of tasks or applications. The computer unit 102 receives and processes the sensor data transmitted by the ultrasonic sensors 152 via the data link 154.

[0110] The data connection 154 can be configured, for example, as a dedicated connection between the ultrasonic sensors 152 and the computer unit 102, or as a data bus. Furthermore, the data connection 154 can be configured as a shared data connection 154 used by various types of devices of the vehicle 150, for example, a multi-purpose data bus. The data connection 154 can be implemented, for example, as a CAN bus, LIN bus, or other interface.

[0111] Although a single data connection 154 is shown in Fig. 9, several connections or data buses can be provided in parallel for connecting the ultrasonic sensors 152 to the computer unit 102, which together are considered a data connection 154. Similarly, although a single computer unit 102 is shown in Fig. 9, several computer units 102 can be provided in parallel for processing the sensor data from the ultrasonic sensors 152. For example, the computer unit 102 is configured to fuse the sensor data received from the ultrasonic sensors 152 to provide a single set of environmental data, in particular to provide an environmental map. Although in Fig.9 only one type of environmental sensor is shown, namely ultrasonic sensors 152, the motor vehicle 150 may also include other types of environmental sensors, such as radar sensors, LiDAR (Light Detection and Ranging)-based sensors and / or optical sensors.

[0112] Although the invention is illustrated and described in detail in the drawings and the preceding description, this illustration and description is to be regarded as exemplary and not limiting; the invention is not limited to the disclosed embodiments.

[0113] Other variations of the disclosed examples can be understood and carried out by those skilled in the art when carrying out the claimed invention with reference to the drawings, the description, and the accompanying claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" does not exclude multiple elements. The mere fact that certain features are mentioned in differing dependent claims does not mean that a combination of these features cannot be advantageous. Any reference numerals in the claims should not be interpreted as limiting the scope of protection.

[0114] A single processor or other unit can perform the functions of several elements mentioned in the claims. A computer program can be stored / distributed on a suitable medium, for example, on an optical storage medium or a solid-state medium supplied with or as part of other hardware, but it can also be distributed in other ways, for example, via the Internet or other wired or wireless telecommunications systems.

[0115] As those skilled in the art will understand, aspects of the present invention can be embodied in the form of a device, a method, or a computer program product. Accordingly, aspects of the present invention can take the form of a purely hardware variant, a purely software variant (including firmware, resident software, microcode, etc.), or a variant that combines software and hardware aspects, which may be generally referred to here as a "circuit," "module," or "system." Furthermore, aspects of the present invention can take the form of a computer program product embodied in one or more computer-readable media containing computer-executable code.

[0116] Any combination of one or more computer-readable media can be used. The computer-readable medium can be a computer-readable signaling medium or a computer-readable storage medium. A "computer-readable storage medium," as used here, includes any tangible storage medium capable of storing instructions executable by a processor or computing system of a computer unit. The computer-readable storage medium may be referred to as a computer-readable non-transitory storage medium. The computer-readable storage medium may also be referred to as a tangible computer-readable medium. In some embodiments, a computer-readable storage medium may also be capable of storing data accessible to the processor or computing system of the computer unit. Examples of Computer-readable storage media include: floppy disks, magnetic hard disk drives, solid-state drives, flash memory, USB flash drives, random access memory (RAM), read-only memory (ROM), optical discs, magneto-optical discs, and the processor or computer system's register file. Examples of optical discs are compact discs (CDs) and digital versatile discs (DVDs), such as CD-ROM, CD-RW, CD-R, DVD-ROM, DVD-RW, or DVD-R discs. The term "computer-readable storage medium" also refers to various types of recording media that the computer can access via a network or communication connection. For example, data can be retrieved via a modem, the internet, or a local network.Computer-executable code embodied on a computer-readable medium may be transmitted via any suitable medium, including but not limited to wireless transmission, wired transmission, fiber optic cable, radio frequency transmission, etc., or via a suitable combination of the aforementioned media.

[0117] A computer-readable signaling medium can contain a propagating data signal with computer-executable code embodied therein, for example, in a baseband or as part of a carrier wave. Such a transmitted signal can take any form, including, but not limited to, electromagnetic or optical signals, or a suitable combination thereof. A computer-readable signaling medium can be any computer-readable medium that is not a computer-readable storage medium and that can transmit, propagate, or transport a program for use by or in conjunction with a command execution system, apparatus, or device.

[0118] A "computer memory," "storage unit," or "memory" is an example of a computer-readable storage medium. Computer memory is any memory that a processor or computing system can directly access.

[0119] A “processor system,” “processor unit,” “computing system,” or “computing unit,” as used herein, comprises an electronic component capable of executing a program, a machine-executable instruction, or computer-executable code. References to the processor system or computing system that include an example “a processor system” or “a computing system” are to be understood as meaning that the example may include more than one processor system, processor unit, computing system, computing unit, or processor core. For example, the processor system or computing system may be a multi-core processor. A processor unit, a computing system, or a computing unit can also refer to a collection of processor units or computing units within a single computer system or distributed across multiple computer systems. The terms "processor system," "processor unit," "computing system," or "computing unit" should also be interpreted as potentially referring to a collection or network of computing devices, each comprising a processor or computing system. The machine-executable code or instructions can be executed by multiple computer systems or processors located within the same computing device or even distributed across multiple computing devices.

[0120] Machine-readable or machine-executable instructions, or computer-readable or computer-executable code, may comprise instructions or a program that causes a processor or other computing system to execute an aspect of the present invention. Computer-executable code for performing operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or similar languages, and conventional procedural programming languages ​​such as the programming language "C" or similar languages, and compiled into machine-executable instructions. In some cases, the computer-executable code may be in the form of a high-level language or in pre-compiled form and used in conjunction with an interpreter that generates the machine-executable instructions on the fly.In other cases, the machine-executable instructions or computer-executable code may be in the form of programming for programmable logic gate arrays.

[0121] The executable computer code can be executed entirely on the user's computer unit, partially on the user's computer unit, as a standalone software package, partially on the user's computer unit and partially on a remote computer unit, or entirely on the remote computer unit or server. In the latter case, the remote computer unit can be connected to the user's computer unit via any network, including a local area network (LAN) or a wide area network (WAN), or the connection can be established with an external computer unit (for example, via the internet using an internet service provider).

[0122] Aspects of the present invention are described with reference to Flowchart diagrams and / or block diagrams of processes, devices (systems) and computer program products according to the embodiments of the invention. It is understood that each block or part of the blocks of the flowchart, illustrations, and / or block diagrams can be implemented by computer program instructions in the form of computer-readable or computer-executable code, where applicable. It is further understood that combinations of blocks in different flowcharts, illustrations, and / or block diagrams can be combined, provided they are not mutually exclusive.These computer program instructions can be provided to a computing system of a general-purpose computer, a special-purpose computer, or any other programmable data processing device to create a machine such that the instructions executed through the computing system of the computer or other programmable data processing device provide means for implementing the functions / actions specified in the flowchart and / or block diagram block or blocks.

[0123] These machine-executable instructions or computer program instructions may also be stored in a computer-readable medium capable of instructing a computer, other programmable data processing device, or other apparatus to operate in a particular manner, such that the instructions stored in the computer-readable medium produce a manufactured item containing instructions to perform the function / action specified in the flowchart and / or block diagram block or blocks.

[0124] The machine-readable or machine-executable instructions or computer program instructions can also be loaded onto a computer, other programmable data processing device, or other devices to initiate a series of procedural steps that are executed on the computer, other programmable device, or other devices to create a computer-implemented process, so that the instructions executed on the computer or other programmable device provide processes for implementing the functions / actions specified in the flowchart and / or block diagram block or blocks.

[0125] A "user interface," as used here, is an interface that allows a user or operator to interact with a computer or computer system. A "user interface" can also be called a "human interface device." A user interface can provide the user with information or data about A user interface (UI) provides and / or receives information or data from the user. A user interface enables the computer to receive user input and provide computer output to the user. In other words, the user interface allows a user to control or manipulate a computer, and the interface allows the computer to display the effects of the user's control or manipulation. Displaying data or information on a screen or graphical user interface is an example of providing information to a user.Receiving data via a keyboard, mouse, trackball, touchpad, pointer, graphics tablet, joystick, gamepad, webcam, headset, pedals, wired glove, remote control and accelerometer are all examples of user interface components that enable the reception of information or data from a user.

[0126] A "hardware interface," as used here, comprises an interface that enables the processor or computing system of a computer unit or computer system to interact with and / or control an external computer device and / or external apparatus. A hardware interface can allow a computer unit to send control signals or commands to an external computer device and / or external apparatus. A hardware interface can also allow a computer unit to exchange data with an external data processing system and / or external device.Examples of hardware interfaces include: a universal serial bus, an IEEE-1394 port, a parallel port, an IEEE-1284 port, a serial port, an RS-232 port, an IEEE-488 port, a Bluetooth connection, a wireless local area network connection, a TCP / IP connection, an Ethernet connection, a control voltage interface, a MIDI interface, an analog input interface, and a digital input interface.

[0127] A "display," "indicator," or "display device," as used here, comprises an output device or user interface capable of displaying images or data. A display can output visual, auditory, and / or tactile data. Examples of a display include, but are not limited to: a computer monitor, a television screen, a touchscreen, a tactile electronic display, and a Braille display.

[0128] Cathode ray tube (CRT), storage tube, bistable display, electronic paper, vector display, flat panel display, vacuum fluorescent display (VFD) Vacuum Fluorescent Display / VF Display), Light Emitting Diode / LED, Electroluminescent Display / ELD, Plasma Display Panels / PDP, Liquid Crystal Display / LCD, Organic Light-Emitting Diode Displays / OLED, Projector and Head-Mounted Display. LIST OF REFERENCE MARKS 100 driver assistance systems 102 Computer unit 104 processor units 106 Hardware interface 108 User interface 110 storage units 120 machine-readable program instructions 122 ultrasound signals 124 Area map 125 temporary environment map 126 positions recorded object 128 positions of objects to be displayed 130 reference positions 132 gaps 134 Threshold 150 motor vehicles 152 Ultrasonic sensor 154 Data connection 156 Attachment 157 reflective surface of the attachment 160 surroundings 161 objects 162 objects 163 reflective object surfaces 164 objects 165 reflective object surfaces 166 objects 167 reflective object surfaces 170 ultrasound signal 172 Echo range 180° direction of movement X X-coordinate Y Y-coordinate Amin minimum distance Amax maximum distance

Claims

REQUIREMENTS 1. Method for masking one or more attachments (156) of a motor vehicle (150) detected in a detection range of a plurality of ultrasonic sensors (152) during environmental monitoring of the motor vehicle (150) using the plurality of ultrasonic sensors (152) of the motor vehicle (150), wherein the method comprises a computer unit (102): • Receiving ultrasonic signals (122; 170) detected using the majority of ultrasonic sensors (152) of the motor vehicle (150), • Creating an environment map (124) of an environment (160) of the motor vehicle (150), wherein the creation of the environment map (124) comprises: o detecting objects (161; 162; 164; 166) in the detection range of the plurality of ultrasonic sensors (152) using the received ultrasonic signals (122; 170), o determining positions (126) of the detected objects (156; 162; 164; 166) relative to the motor vehicle (150), o creating the environment map (124) which includes certain positions (126) of detected objects (162; 164; 166), wherein the positions of the objects (161) whose positions (126) correspond to a reference position (130) of one or more attachments (156) are hidden in the environment map (124).

2. The method of claim 1, wherein the method, in the course of creating the environment map (124), comprises: determining a set of positions (128) of objects (162; 164; 166) to be represented from the determined positions (126), wherein, to obtain the set of positions (128), the positions from the determined positions (126) that correspond to a reference position (130) of one of the attachments (156) are removed, wherein the set of positions (128) of objects (162; 164; 166) to be represented is used for creating the environment map (124).

3. The method of claim 1, wherein a temporary environment map (125) is created for the specified positions (126), wherein, after the creation of the temporary environment map (125), the positions of the environment map (124) are hidden to obtain the environment map (124). Objects (161) are created whose positions correspond to one of the reference positions (130) of one of the attachments (156).

4. Method according to one of the preceding claims, wherein the method further comprises using the environment map (124) for one or more of the following functions: a parking aid, a distance warning system, an emergency brake assist.

5. Method according to one of the preceding claims, wherein the one or more attachment parts (156) of the motor vehicle (150) are one or more of the following objects: a trailer coupling, a step element, an air inlet, an air outlet, a headlight element, a rear spoiler element, a front apron element, a decorative element, a bicycle stand, a license plate holder.

6. Method according to one of the preceding claims, wherein one or more of the positions (128) of the detected objects (162; 164; 166) encompassed by the environment map (124) are displayed using a user interface (108) of the motor vehicle (150).

7. Method according to one of the preceding claims, wherein a warning signal is issued and / or a warning message is displayed if the distance of one of the positions (128) of the detected objects (162; 164; 166) encompassed by the environment map (124) from a reference area defined in the environment map (124) falls below a predefined threshold value.

8. Method according to any one of the preceding claims, wherein per ultrasonic sensor (152) • the ultrasound signals (122; 170) are recorded in repeating measurement cycles, • the detection of the objects (161; 162; 164; 166) includes an echo analysis using the ultrasonic signals (122; 170) detected per ultrasonic sensor (152) and measurement cycle, • In the course of echo analysis, a possible plurality of echoes is taken into account per ultrasound sensor and measurement cycle, which are assigned to a plurality of different positions (126) of a plurality of different objects (161; 162; 164; 166).

9. Computer program for hiding one or more attachments (156) of a motor vehicle (150) detected in a detection range of a plurality of ultrasonic sensors (152) during environmental monitoring of the motor vehicle (150) using the plurality of ultrasonic sensors (152) of the motor vehicle (150), wherein the computer program comprises machine-readable program instructions (120), wherein execution of the machine-readable program instructions (120) by a processor unit (104) of a computer unit (102) of the motor vehicle (150) causes the processor unit (104) to control the computer unit (102) to: • Receiving ultrasonic signals (122; 170) detected using the majority of ultrasonic sensors (152) of the motor vehicle (150), • Creating an environment map (124) of an environment (160) of the motor vehicle (150), wherein the creation of the environment map (124) comprises: o detecting objects (161; 162; 164; 166) in the detection range of the plurality of ultrasonic sensors (152) using the received ultrasonic signals (122; 170), o determining positions (126) of the detected objects (161; 162; 164; 166) relative to the motor vehicle (150), o creating the environment map (124) which includes certain positions (126) of detected objects (162; 164; 166), wherein in the environment map (124) the positions (126) of the objects (161) whose positions correspond to a reference position (130) of one or more attachments (156) are hidden.

10. Computer unit (102) of a motor vehicle (150) for masking one or more attachments (156) of a motor vehicle (150) detected in a detection range of a plurality of ultrasonic sensors (152) during environmental monitoring of the motor vehicle (150) using the plurality of ultrasonic sensors (152) of the motor vehicle (150), wherein the computer unit (102) comprises a processor unit (104) and a memory unit (110) with machine-readable program instructions (120), wherein execution of the machine-readable program instructions 81209 by the processor unit (104) causes the processor unit (104) to control the computer unit (102) to: • Receiving ultrasonic signals (122; 170) detected using the majority of ultrasonic sensors (152) of the motor vehicle (150), • Creating an environment map (124) of an environment (160) of the motor vehicle (150), wherein creating the environment map (124) includes: Detecting objects (161; 162; 164; 166) in the detection range of the plurality of ultrasonic sensors (152) using the received ultrasonic signals (122; 170), determining positions (126) of the detected objects (161; 162; 164; 166) relative to the motor vehicle (150), creating the environment map (124) which includes certain positions (126) of detected objects (162; 164; 166), wherein in the environment map (124) the positions (126) of the objects (161) whose positions correspond to a reference position (130) of one or more attachments (156) are hidden.

Images